ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Distributed control of UAVs formation based on port⁃Hamiltonian system
Received date: 2023-11-13
Revised date: 2023-11-21
Accepted date: 2023-12-20
Online published: 2023-12-26
Supported by
National Natural Science Foundation of China(62073343)
A distributed control law suitable for Unmanned Aerial Vehicle (UAV) formation is designed based on the port Hamiltonian system theory and the passivity-based control method of states error interconnection damping. Firstly, a states error model for UAVs formation under distributed control is established. Secondly, the expected Hamiltonian energy function of the system is designed based on the states error of the relative equilibrium state of each UAV and the states error between UAVs. Then, based on the passivity-based control method of states error interconnection damping, the control law of the UAVs formation system is derived. Finally, the designed control law is verified by simulation. The results show that the UAVs formation under this control law can be quickly stabilized to the expected formation, and has certain performance advantages in convergence time and response process stationarity.
Wenkang HAO , Suyan BAO , Qifeng CHEN . Distributed control of UAVs formation based on port⁃Hamiltonian system[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023 , 44(S2) : 729868 -729868 . DOI: 10.7527/S1000-6893.2023.29868
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